Visual assembly for weld joint recognition of welding robot

Abstract

The utility model discloses a visual assembly for welding robot weld identification, and relates to the technical field of welding robots, the visual assembly comprises a fixed bottom plate and a movable assembly, the fixed bottom plate is an integrated structure, the rear end of the upper surface of the fixed bottom plate is provided with a limiting chute, and the inner side of the limiting chute is slidably connected with a support frame; and the movable assembly is arranged on the surface of the supporting frame and comprises a servo motor, a connecting shaft, a sliding rail rolling wheel, a limiting sliding rail, a fixing plate, a fixing auxiliary plate, a rotating motor, a threaded lead screw, a movable base and a limiting rod, the servo motor is arranged at the lower end of the rear surface of the supporting frame, and the output end of the servo motor is connected with the connecting shaft through a coupler. According to the visual assembly for weld joint recognition of the welding robot, the weld joint recognition mechanism of the visual assembly can flexibly move through the movable assembly, so that the flexibility and comprehensiveness of weld joint recognition are improved, the visual assembly can efficiently recognize weld joints through the recognition assembly, and the welding quality is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot technical field, concretely is a visual assembly for welding seam identification of welding robot. BACKGROUND

[0002] Welding robot is a kind of automatic welding equipment, combines mechanical, electronic, computer and sensing technology, can complete welding operation according to preset program and path autonomously, and welding seam identification of welding robot refers to the process that welding robot can accurately identify and position welding seam position to carry out accurate welding, in order to improve the accuracy of welding seam identification, a visual assembly for welding seam identification of welding robot is required.However, the visual assembly for welding seam identification still has the following shortcomings at present:

[0003] The patent file with the application number CN217618545U discloses a laser vision sensing device for welding seam damage identification.The laser vision sensing device for welding seam damage identification solves the problem that the installation of the vision sensor is mostly fixed by screws, and the high temperature of the welding gun can easily damage the screws, causing the sensor to loosen, but it is inconvenient to make the welding seam identification mechanism move flexibly, so that the welding seam identification is not flexible and comprehensive.

[0004] Therefore, in view of the above, the existing structure is improved, and a visual assembly for welding seam identification of welding robot is provided. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a visual assembly for welding seam identification of welding robot to solve the problems in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical scheme: a visual assembly for welding seam identification of welding robot, including fixed bottom plate and movable assembly, the fixed bottom plate is integrated structure, and the rear end of fixed bottom plate upper surface is provided with limit sliding slot, the inner side of limit sliding slot is slidably connected with support frame, the movable assembly is arranged on the surface of support frame, and the movable assembly includes servo motor, connecting shaft, sliding rail roller, limit sliding rail, fixed plate, fixed auxiliary plate, rotating motor, threaded screw rod, moving seat and limit rod, the servo motor is arranged on the lower end of support frame rear surface, the servo motor output end is connected with connecting shaft through coupling, and the surface of connecting shaft is provided with sliding rail roller, the rear end of fixed bottom plate upper surface is provided with limit sliding rail.

[0007] Further, the fixed plate is installed on the rear side of the upper surface of the support frame, and the fixed auxiliary plate is arranged on the front side of the upper surface of the support frame.

[0008] Further, the rear side of the fixed plate is provided with a rotating motor, and the output end of the rotating motor is connected with a threaded lead screw through a shaft coupling.

[0009] Further, the surface of the threaded lead screw is threadedly connected with a moving seat, and the upper end of the inner side of the moving seat is slidably connected with a limiting rod, and the rear end of the limiting rod is connected with the upper end of the front side of the fixed auxiliary plate.

[0010] Further, the bottom of the moving seat is provided with an electric push rod, and the electric push rod and the moving seat are in a tightly connected integrated structure.

[0011] Further, the bottom of the electric push rod is provided with an identification assembly for weld joint identification, and the identification assembly comprises an industrial vision camera, a filter, a processor, a support plate, a connecting piece, a support sleeve and a laser.

[0012] Further, the industrial vision camera is arranged at the bottom of the electric push rod, and the bottom of the industrial vision camera is provided with a filter, and the right side of the industrial vision camera is provided with a processor.

[0013] Further, the front side of the industrial vision camera is provided with a support plate, and the front end of the support plate is rotatably connected with a connecting piece, the front end of the connecting piece is rotatably connected with a support sleeve, and the inner side of the support sleeve is clampedly connected with a laser.

[0014] The utility model provides a kind of visual assembly for weld joint identification of welding robot, with following beneficial effects:

[0015] 1, the utility model discloses a movable assembly, movable assembly includes servo motor, connecting shaft, slide rail roller, limit slide rail, fixed plate, fixed auxiliary plate, rotating motor, threaded lead screw, moving seat and limiting rod, when using, start servo motor, make servo motor drive connecting shaft rotation, drive slide rail roller to roll on limit slide rail by connecting shaft, and then drive support frame to slide along the inner side of limit sliding slot, realize the left and right movement of weld joint identification mechanism, start rotating motor, make rotating motor drive threaded lead screw rotation, make threaded lead screw drive moving seat move back and forth along the surface of threaded lead screw, by the sliding connection of the inner side of moving seat upper end with the surface of limiting rod, the movement of moving seat is limited to a certain extent, realize the back and forth movement of weld joint identification mechanism, so that the weld joint identification mechanism of the device can be moved flexibly, to improve the flexibility and comprehensiveness of weld joint identification.

[0016] 2, the utility model discloses a setting identification subassembly, and identification subassembly includes industrial vision camera, optical filter, treater, support plate, connecting piece, support cover and laser, when using, the support cover is made through the rotary connection of connecting piece and support plate and the rotary connection of support cover and connecting piece, and the angle of laser is adjusted flexibly, and the active vision light can be projected to the weld surface through laser, and the active vision light will produce obvious change on the weld surface, and help to identify the weld position, and the welding area is directly photographed through industrial vision camera, and the information of arc and weld bevel is acquired in real time, and the image of weld is handled to the control system by treater, and subsequent analysis and adjustment are carried out, in the use, optical filter 602 can not only exclude arc interference, but also protect industrial vision camera 601 from being damaged, thereby making the device can carry out efficient identification to the weld, and improve the welding quality. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a kind of visual component's stereoscopic structure schematic diagram for the welding robot weld identification of the utility model;

[0018] Fig. 2 It is the movable assembly stereoscopic structure schematic diagram for the welding robot weld identification of the utility model's visual component;

[0019] Fig. 3 It is the identification subassembly stereoscopic structure schematic diagram for the welding robot weld identification of the utility model's visual component.

[0020] In the drawing: 1, fixed bottom plate;2, limit sliding slot;3, support frame;4, movable assembly;401, servo motor;402, connecting shaft;403, slide rail roller;404, limit slide rail;405, fixed plate;406, fixed auxiliary plate;407, rotary motor;408, threaded screw;409, moving seat;410, limit rod;5, electric push rod;6, identification subassembly;601, industrial vision camera;602, optical filter;603, treater;604, support plate;605, connecting piece;606, support cover;607, laser. DETAILED DESCRIPTION

[0021] The embodiment of the utility model is further described in detail in combination with the drawings and examples. The following examples are used to illustrate the utility model, but cannot be used to limit the scope of the utility model.

[0022] As Figs. 1 to 3As shown, a kind of visual assembly for welding robot weld identification, including fixed base plate 1 and movable assembly 4, fixed base plate 1 is integrated structure, and the upper surface rear end of fixed base plate 1 is provided with limiting sliding groove 2, the inner side of limiting sliding groove 2 is slidably connected with support frame 3, movable assembly 4 is set on the surface of support frame 3, and movable assembly 4 includes servo motor 401, connecting shaft 402, slide rail roller 403, limiting slide rail 404, fixed plate 405, fixed auxiliary plate 406, rotating motor 407, threaded screw rod 408, moving seat 409 and limiting rod 410, servo motor 401 is set on the lower end of the rear surface of support frame 3, and the output end of servo motor 401 is connected with connecting shaft 402 by coupling, and the surface of connecting shaft 402 is provided with slide rail roller 403, and the upper surface rear end of fixed base plate 1 is provided with limiting slide rail 404.

[0023] Specific operation is as follows, when using, start servo motor 401, so that servo motor 401 drives connecting shaft 402 to rotate, slide rail roller 403 is driven to roll on limiting slide rail 404 by connecting shaft 402, in turn, support frame 3 is driven to slide along the inner side of limiting sliding groove 2, realize the left and right movement of weld identification mechanism, start rotating motor 407, so that rotating motor 407 drives threaded screw rod 408 to rotate, so that moving seat 409 is driven to move along the surface of threaded screw rod 408 by threaded screw rod 408, the inner side of the upper end of moving seat 409 is slidably connected with the surface of limiting rod 410, the movement of moving seat 409 is limited to a certain extent, realize the front and back movement of weld identification mechanism.

[0024] Please refer to Fig. 3The rear side of the upper surface of the support frame 3 is provided with a fixed plate 405, and the front side of the upper surface of the support frame 3 is provided with a fixed auxiliary plate 406. The rear side of the fixed plate 405 is provided with a rotating motor 407, and the output end of the rotating motor 407 is connected with a threaded lead screw 408 through a shaft coupling. The surface of the threaded lead screw 408 is rotatably connected with the inner side of the fixed auxiliary plate 406. The surface of the threaded lead screw 408 is threadedly connected with a moving seat 409, and the inner side of the moving seat 409 is slidably connected with a limiting rod 410. The rear end of the limiting rod 410 is connected with the upper end of the front side of the fixed auxiliary plate 406. The bottom of the moving seat 409 is provided with an electric push rod 5, and the electric push rod 5 and the moving seat 409 are in a tightly connected integrated structure. The bottom of the electric push rod 5 is provided with an identification assembly 6 for weld identification. The identification assembly 6 comprises an industrial vision camera 601, a filter 602, a processor 603, a support plate 604, a connecting piece 605, a support sleeve 606 and a laser 607. The industrial vision camera 601 is arranged at the bottom of the electric push rod 5, and the bottom of the industrial vision camera 601 is provided with the filter 602. The right side of the industrial vision camera 601 is provided with the processor 603. The front side of the industrial vision camera 601 is provided with the support plate 604, and the front end of the support plate 604 is rotatably connected with the connecting piece 605. The front end of the connecting piece 605 is rotatably connected with the support sleeve 606, and the inner side of the support sleeve 606 is clampedly connected with the laser 607.

[0025] Specific operation is as follows, when in use, the support sleeve 606 is actuated, so that the support sleeve 606 is rotatably connected with the support plate 604 through the connecting piece 605, and the support sleeve 606 is rotatably connected with the connecting piece 605, so as to flexibly adjust the angle of the laser 607. The laser 607 can project active vision light onto the weld surface. The active vision light will produce obvious changes on the weld surface, helping to identify the weld position. The industrial vision camera 601 directly photographs the welding area to obtain the information of the arc and the weld bevel in real time. The processor 603 processes the image of the weld, saves and uploads it to the control system for subsequent analysis and adjustment. During use, the filter 602 not only can exclude arc light interference, but also can protect the industrial vision camera 601 from damage.

[0026] In summary, as Figs. 1 to 3As shown, the visual component for the welding robot weld identification, in use, first, dial the support sleeve 606, make the support sleeve 606 rotate with the support plate 604 through the connecting piece 605 and the rotating connection of the support sleeve 606 and the connecting piece 605, adjust the angle of the laser 607 flexibly, then start the servo motor 401, make the servo motor 401 drive the connecting shaft 402 to rotate, drive the slide rail roller 403 to roll on the limiting slide rail 404 through the connecting shaft 402, in turn drive the support frame 3 to slide along the inner side of the limiting slide groove 2, realize the left and right movement of the weld identification mechanism, start the rotating motor 407, make the rotating motor 407 drive the threaded lead screw 408 to rotate, make the threaded lead screw 408 drive the moving seat 409 to move forward and backward along the surface of the threaded lead screw 408, through the sliding connection between the inner side of the upper end of the moving seat 409 and the surface of the limiting rod 410, limit the movement of the moving seat 409 to a certain extent, realize the forward and backward movement of the weld identification mechanism, the laser 607 can project active visual light onto the weld surface, the active visual light will change obviously on the weld surface, help to identify the weld position, the industrial vision camera 601 directly shoots the welding area, and the information of the arc and the weld bevel is acquired in real time, the processor 603 processes the image of the weld, saves and uploads to the control system, so as to carry out subsequent analysis and adjustment, and the optical filter 602 can not only exclude arc light interference, but also protect the industrial vision camera 601 from being damaged.

[0027] The embodiments of the present application are given for the purpose of illustration and description, and are not exhaustive or limit the present application to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the present application and its practical application, and to enable those of ordinary skill in the art to understand the present application so as to design various embodiments with various modifications suitable for specific use.

Claims

1. A vision component for weld seam recognition in a welding robot, comprising a fixed base plate (1) and a movable component (4), characterized in that: The fixed base plate (1) is an integrated structure, and a limiting slide groove (2) is opened at the rear end of the upper surface of the fixed base plate (1). A support frame (3) is slidably connected to the inner side of the limiting slide groove (2). The movable component (4) is set on the surface of the support frame (3), and the movable component (4) includes a servo motor (401), a connecting shaft (402), a slide rail roller (403), a limiting slide rail (404), a fixed plate (405), a fixed auxiliary plate (406), a rotating motor (407), a threaded screw (408), a moving seat (409), and a limiting rod (410). The servo motor (401) is set at the lower end of the rear surface of the support frame (3), and the output end of the servo motor (401) is connected to the connecting shaft (402) through a coupling. A slide rail roller (403) is set on the surface of the connecting shaft (402), and a limiting slide rail (404) is set at the rear end of the upper surface of the fixed base plate (1).

2. The vision component for weld seam recognition in a welding robot according to claim 1, characterized in that, A fixing plate (405) is installed on the rear side of the upper surface of the support frame (3), and a fixing auxiliary plate (406) is provided on the front side of the upper surface of the support frame (3).

3. The vision component for weld seam recognition in a welding robot according to claim 1, characterized in that, A rotating motor (407) is installed on the rear side of the fixed plate (405), and the output end of the rotating motor (407) is connected to a threaded screw (408) through a coupling. The surface of the threaded screw (408) is rotatably connected to the inner side of the fixed auxiliary plate (406).

4. The vision component for weld seam recognition in a welding robot according to claim 1, characterized in that, The threaded screw (408) is threadedly connected to a movable seat (409), and a limit rod (410) is slidably connected to the upper inner side of the movable seat (409). The rear end of the limit rod (410) is connected to the upper front side of the fixed auxiliary plate (406).

5. The vision component for weld seam recognition in a welding robot according to claim 1, characterized in that, An electric push rod (5) is installed at the bottom of the movable seat (409), and the electric push rod (5) and the movable seat (409) are an integrated structure that is tightly connected.

6. A vision component for weld seam recognition in a welding robot according to claim 5, characterized in that, The electric push rod (5) is provided with an identification component (6) for weld seam identification at its bottom, and the identification component (6) includes an industrial vision camera (601), a filter (602), a processor (603), a support plate (604), a connector (605), a support sleeve (606), and a laser (607).

7. A vision component for weld seam recognition in a welding robot according to claim 6, characterized in that, The industrial vision camera (601) is located at the bottom of the electric push rod (5), and a filter (602) is installed at the bottom of the industrial vision camera (601). A processor (603) is located on the right side of the industrial vision camera (601).

8. A vision component for weld seam recognition in a welding robot according to claim 6, characterized in that, The industrial vision camera (601) has a support plate (604) mounted on its front side, and a connector (605) is rotatably connected to the front end of the support plate (604). A support sleeve (606) is rotatably connected to the front end of the connector (605), and a laser (607) is engaged with the inner side of the support sleeve (606).

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